外文翻译设计和捷联惯导 GPS组合导航系统的实验研究

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1、英 文 翻 译系 别专 业班 级学生姓名学 号指导教师 Design and Experiment of SINS/GPS Integrated Navigation System AbstractTo meet the requirements of SINS/GPS integrated navigation system such as high accuracy, low power consumption and small size, an embedded navigation computer system based on DSP and FPGA was designed.

2、 At first, the overall structure of the navigation computer system was demonstrated. The navigation computer hardware module was consists of two sub modules i.e., the navigation information processing sub module, and the data acquisition and communication sub module. Secondly,Kalman integrated filte

3、r scheme was designed and then system software work flow was introduced. Finally, the prototype verified experiment was made. The experimental results showed that the system can effectively accomplish the missions of navigation sensor data acquisition, real-time navigation solution, running of Kalma

4、n filter algorithm and peripheral equipment instruction fetch. The requirements of the navigation computer for SINS/GPS integrated navigation system can be totally met.Index Termsintegrated navigation, embedded computer,SINS, GPS, Kalman filterI. INTRODUCTION The SING/GPS integrated navigation syste

5、m 1, 2consists of strap down inertial navigation system (SINS)3 and global positioning system (GPS) 4. The navigation computer is an integrated navigation system serves two functions (a) to complete a large number of real-time data processing operations, e.g., inertial measurement unit (IMU) raw dat

6、a preprocessing, GPS receiver message preprocessing, inertial navigation solution and integrated filtering operation; (b) to complete the task of data communication with external navigation sensors and navigation application equipments,e.g., acquisition of raw data of gyroscope, accelerometer and ot

7、her inertial sensors and GPS receiver message,command reading of navigation application equipments and output of the navigation results5, 6. Traditional navigation computers are mostly based onPC104 architecture 7 and have some shortcomings as follows. They usually have larger volume, higher power c

8、onsumption and complex operating system. There are always difficulties in hardware maintaining. The operational performances of a traditional navigation computer are limited to the CPU dominant frequency andthe real-time performance is relatively lower. Thus, the traditional navigation computers are

9、 not suitable for the integrated navigation system 8. In this work, an embedded integrated navigation computer with digital signal processor (DSP) and field programmable gate array (FPGA) was designed as the core architecture of an integrated navigation computer in order to reach the performances of

10、 high real-time, low power consumption and small volume. The navigation computer, IMU and GPS compose the prototype platform of a SINS/GPS integrated navigation system. A Kalman filter 9, 10 for GPS speed and position measurement was designed according to the characteristics of the SINS/GPS integrat

11、ed navigation system. The navigation accuracy of integrated navigation system cannot be guaranteed during GPS outages. Hence, the intelligent switch between integrated navigation mode and pure inertial navigation mode was designed in the working mode of the system to effectively avoid the abovementi

12、oned disadvantage.II. DESIGN OF NAVIGATION COMPUTER HARDWARE Navigation computer needs to complete navigation sensor data acquisition, real-time navigation solution,navigation results output, etc. According to the functions,the navigation computer system designed in this work consists of two sub mod

13、ules for navigation informationprocessing and data acquisition and communication. The navigation information processing sub module, and the data acquisition and communication sub module. The navigation data processing module is mainly composed of DSP, SDRAM, FLASH, clock circuit, bus driving circuit

14、 and FPGA-implemented logic control circuit. The DSP mainly completes the various navigation algorithms; the SDRAM is mainly used to expand the memory space required for system operation; the FLASH is mainly used to expand the external ROM and solidify the system program code; the main function of t

15、he clock circuit is to provide a stable clock reference for the navigation computer system; the bus driving circuit and the logic control circuit mainly coordinate the DSP chip to complete reading-writing of external memory data andI/O port. Both strap down algorithm and integrated filtering algorit

16、hm, which have high computational complexity and high requirements on real-time performance, involve a large number of matrix operations and finite impulse response (FIR) filters. The DSP is a new digital signal processor which can achieve real-time, fast and effective numerical operations. And DSP

17、has integrated internal integrated FIR filters 11. When selecting navigation information processor, this design takes into account the factors such as power consumption, volume and cost, while in order to meet the requirements on real-time navigation operations of the integrated navigation system,an

18、d finally uses TMS320C6713B (C6713B) chip of Texas Instruments (TI) as the core processor of the navigation computer. Taking into account the factors such as power consumption, volume and cost, DSP was selected as the navigation information processor in this design. Further, in order to meet the req

19、uirements on real-time navigation operations of the integrated navigation system, TMS320C6713B (C6713B) chip of Texas Instruments(TI) was used as the core processor of the navigation computer. SYSEM SOFTWARE DESIGNIn this design, the SINS/GPS integrated navigation system adopts the position and spee

20、d integrated mode.The filter uses the SINS error equation as the state equation. The position and speed navigation information differences between the SINS and GPS as the filter measurement information, was used to correct the SINS state vectors after Kalman filtering to improve the navigation accur

21、acy. The simple integrated mode introduces the GPS speed and position information and improves the redundancy of the navigation system. The system is capable of intelligent switching between the SINS working mode and the SINS/GPS integrated working during GPS outages for guarantying navigation accur

22、acy and facilitating engineering implementation. The linear state equation of the system is as follows: (1) East-north-up geographic coordinate is applied as navigation coordinate in the system. Since the vertical channel of the SINS system is unstable and has little compensation effect for the syst

23、em error, the vertical speed and position vectors are negligible in the state vectors of the filter. The state vectors of the filter are 12-dimensional. The state vector model of the system is as follows: (2) where,are the east and north speed errors of the navigation system, respectively; are the p

24、latform misalignment angles of the navigation system,respectively;are the latitude and longitude errors of the navigation system, respectively is the gyro drift;is the accelerometer bias. The noise vector of the system: (3)where, is the random white noise drift of the gyroscope; is the first order M

25、arkov process driving white noise of the gyroscope; is the random white noise drift of the accelerometer. CONCLUSIONThe paper presents a SINS/GPS integrated navigation computer system based on DSP and FPGA structure. The design realizes the integrated navigation system embedded design, the design co

26、ncept fully embodies the real-time information processing and real-time control phase separation, information distributed parallel processing design thought, hardware and software combined to realize the systems target of high speed data acquisition and high speed information processing, satisfies t

27、he systems requirements of small volume, high precision, high real-time performance, low power consumption etc., which has practical engineering significance in the widely applications of integrated navigation system in low cost, low power consumption system areas.REFERENCES 1 W. Sun and F. Sun, “No

28、vel approach to GPS/SINS integration for IMU alignment,” Journal of SystemsEngineering and Electronics, vol. 22, no. 3, pp. 513-518,2012. 2 J. Ali and M.R.U.B. Mirza, “Performance comparison among some nonlinear filters for a low cost SINS/GPS integrated solution,” Nonlinear Dynamics, vol. 61, no.3,

29、 pp.491-502, 2010. 3 D. Han, C. Xiong and H. Liu, “A wavelet-based method for processing signal of FOG in strap-down inertial system,” International Journal of Robotics & Automation, vol. 24, no. 3, pp. 185-193,2009. 4 N. Bulusu, J. Heidemann and D. Estrin,“GPS-less low-cost outdoor localization for

30、 very small devices,” IEEE Personal Communications, vol. 7, no. 5, pp. 28-34, 2000. 5 T. Zhang and X.S. Xu, “A new method of seamless land navigation for GPS/INS integrated system, ”MEASUREMENT, vol. 45, no. 4, pp. 691-701, 2012. 6 X.L. Wang and Y.F. Li, “An innovative scheme for SINS/GPS ultra-tigh

31、t integration system with low-grade IMU,” Aerospace Science and Technology, vol. 23, no. 1,pp. 452-460, 2012. 7 Y.S. Sun, L. Wan, Y. Gan, J.G. Wang and C.M Jiang, “Design of motion control of dam safety inspection underwater vehicle,” Journal of Central South University, vol. 19, no. 6, pp.1522-1529

32、, 2012. 8J. Yi, L. Zhang, R. Shu and J Wang “Initial alignment for SINS based on low-cost IMU,” Journal of Computers,vol.6, no. 6, pp. 1080-1085, 2011. 9 H.Y. Chen, J.D. Wang and L.R. Feng, “Research on the dynamic data-driven application system architecture for flight delay,” Journal of Software, v

33、ol. 7, no. 2, pp. 263-268, 2012. 10 R.G. Sheng, Y. Zhang and J. Miao, “An Improved Location Algorithm by Extend Square-root Cubature Kalman Filter,” Journal of Computers, vol. 8, no. 2, pp.471-477, 2013. 设计和捷联惯导/ GPS组合导航系统的实验研究 摘要：为了满足SINS / GPS组合导航系统的需求，如高准确度，低功耗和小尺寸，基于DSP的嵌入式导航计算机系统和FPGA的设计。首先，导航计

34、算机的整体结构系统被证明。导航计算机硬件模块是包含两个子模块，即，在导航信息处理子模块，以及数据采集和通信子模块。其次，卡尔曼滤波器集成方案的设计，然后系统软件工作流程进行了介绍。最后，原型验证实验做。实验结果表明，该系统能有效地完成导航传感器采集数据，实时导航解决方案的任务，卡尔曼滤波器算法运行和外围设备取指令。导航计算机捷联惯导/ GPS组合导航系统的要求可以完全满足。关键词：组合导航，嵌入式计算机，捷联惯导，GPS，卡尔曼滤波器一 引言 该星/ GPS组合导航系统1，2包括表带联惯性导航系统（SINS）3和全球定位系统（GPS）4。导航计算机是一个集成导航系统有两个功能（一）完成了大量的

35、实时数据处理操作，例如，惯性测量单元（IMU）原始数据预处理，GPS接收消息的预处理，惯性导航解决方案和集成滤波操作; （b）在完成与外部导航传感器和导航应用的设备，例如，采集陀螺仪，加速度计等惯性传感器和GPS接收器的消息，导航应用设备读命令和导航结果的输出的原始数据的数据通信的任务5，6。传统的导航电脑大多是基于onPC104架构7，并有一些不足之处如下。它们通常具有较大的体积，较高的功率消耗和复杂的操作系统。总有一些困难，硬件维护。传统的导航计算机的操作性能被限制到CPU主频和实时性能相对较低。因此，传统的导航计算机是不适合的组合导航系统8。在这项工作中，一个嵌入式组合导航计算机与数字信

36、号处理器（DSP）和现场可编程门阵列（FPGA）的设计为一体的综合导航计算机的核心架构，以达到高实时性，低功耗的性能和小体积。导航电脑，IMU和GPS组成的原型SINS / GPS组合导航系统的平台。卡尔曼滤波器9，10对于GPS的速度和位置测量是根据SINS / GPS组合导航系统的特点设计的。组合导航系统的导航精度不能在GPS中断得到保证。因此，综合导航模式和纯惯性导航模式之间的智能开关被设计在系统的工作模式，有效地避免了上述缺点。二 导航电脑硬件设计 导航计算机需要完成的导航传感器的数据采集，实时导航解决方案，导航效果输出等。根据功能，设计这项工作的导航计算机系统由导航信息的两个子模块处

37、理和数据采集和通信。在导航信息处理子模块，以及数据采集和通信子模块。导航数据处理模块主要由DSP，SDRAM，FLASH，时钟电路，总线驱动电路和FPGA实现的逻辑控制电路。该DSP主要完成各种导航算法;在SDRAM主要用于扩展系统运行所需的存储空间;闪存主要用来扩展外部ROM和固化的系统的程序代码;时钟电路的主要功能是提供一种用于在导航计算机系统中的稳定的时钟基准;总线驱动电路和逻辑控制电路主要坐标DSP芯片来完成的读 - 写外部存储器中的数据和I / O端口。这两种表带下降算法和综合滤波算法，具有较高的计算复杂性和实时性要求高，涉及大量的矩阵运算和有限脉冲响应（FIR）滤波器。该DSP是可

38、以实现实时，快速，有效的数值运算一个新的数字信号处理器。和DSP集成内部集成了FIR滤波器11。当选择导航信息处理机，这种设计考虑到的因素，如功耗，体积和成本，同时为了满足对组合导航系统的实时导航操作的要求，并最终使用的TMS320C6713B（C6713B）芯片德州仪器（TI）作为导航计算机的核心处理器。考虑到的因素，如功耗，体积和成本，DSP被选为导航信息处理机在这个设计。此外，为了满足对综合导航系统，德州仪器（TI）的TMS320C6713B（C6713B）芯片的实时导航业务的要求被用来作为导航计算机的核心处理器。三 SYSEM软件设计在本设计中，SINS / GPS组合导航系统采用位置

39、和速度的综合mode.The过滤器采用捷联惯导误差方程为状态方程。捷联惯导和GPS作为过滤器的测量信息之间的位置和速度导航信息的差异，被用来纠正捷联惯导状态向量后，卡尔曼滤波，以提高导航精度。简单的集成模式引入了GPS中的速度和位置信息，提高了导航系统的冗余。该系统能够在捷联惯导系统的工作模式之间智能切换和SINS / GPS组合中的GPS中断的中保证导航的准确性和促进工程实施工作。该系统的线性状态方程如下： （1）东，北向上地理坐标被应用在系统中的导航坐标。由于捷联惯性导航系统的垂直通道是不稳定的，具有与系统误差小的补偿效果，垂直速度和位置矢量是可以忽略不计的滤波器的状态向量。该滤波器的状态

40、向量是12维。是系统的状态向量模型如下： （2）在那里，是导航系统的东部和北部的速度误差，分别是在导航系统中，分别为平台误差角;是导航系统的纬度和经度的错误，分别是陀螺漂移;是加速度计偏差。该系统的噪声矢量： （3）在那里，是陀螺仪的随机白噪声漂移;是一阶马尔可夫过程驱动陀螺仪的白噪声;是加速度计的随机白噪声漂移。四 结 论 本文提出了一种基于DSP和FPGA结构的SINS / GPS组合导航计算机系统。该设计实现了集成导航系统的嵌入式设计，设计理念充分体现了实时信息处理和实时控制相分离，信息分布式并行处理的设计思想，硬件和软件相结合，实现高速数据采集系统的目标和高速信息处理，满足体积小，精度

41、高，实时性，低功耗等系统的要求，具有实际工程意义的组合导航系统的低成本，低功耗的系统低了广泛的应用区域。参考 1 W. Sun and F. Sun, “Novel approach to GPS/SINS integration for IMU alignment,” Journal of SystemsEngineering and Electronics, vol. 22, no. 3, pp. 513-518,2012. 2 J. Ali and M.R.U.B. Mirza, “Performance comparison among some nonlinear filters f

42、or a low cost SINS/GPS integrated solution,” Nonlinear Dynamics, vol. 61, no.3, pp.491-502, 2010. 3 D. Han, C. Xiong and H. Liu, “A wavelet-based method for processing signal of FOG in strap-down inertial system,” International Journal of Robotics & Automation, vol. 24, no. 3, pp. 185-193,2009. 4 N.

43、 Bulusu, J. Heidemann and D. Estrin,“GPS-less low-cost outdoor localization for very small devices,” IEEE Personal Communications, vol. 7, no. 5, pp. 28-34, 2000. 5 T. Zhang and X.S. Xu, “A new method of seamless land navigation for GPS/INS integrated system, ”MEASUREMENT, vol. 45, no. 4, pp. 691-70

44、1, 2012. 6 X.L. Wang and Y.F. Li, “An innovative scheme for SINS/GPS ultra-tight integration system with low-grade IMU,” Aerospace Science and Technology, vol. 23, no. 1,pp. 452-460, 2012. 7 Y.S. Sun, L. Wan, Y. Gan, J.G. Wang and C.M Jiang, “Design of motion control of dam safety inspection underwa

45、ter vehicle,” Journal of Central South University, vol. 19, no. 6, pp.1522-1529, 2012. 8J. Yi, L. Zhang, R. Shu and J Wang “Initial alignment for SINS based on low-cost IMU,” Journal of Computers,vol.6, no. 6, pp. 1080-1085, 2011. 9 H.Y. Chen, J.D. Wang and L.R. Feng, “Research on the dynamic data-driven application system architecture for flight delay,” Journal of Software, vol. 7, no. 2, pp. 263-268, 2012. 10 R.G. Sheng, Y. Zhang and J. Miao, “An Improved Location Algorithm by Extend Square-root Cubature Kalman Filter,” Journal of Computers, vol. 8, no. 2, pp.471-477, 2013.11